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Code-style consistency improvement:

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Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files.
make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type.
This commit contains no other changes aside from adding and applying clang-format-all.sh
This commit is contained in:
erwincoumans
2018-09-23 14:17:31 -07:00
parent b73b05e9fb
commit ab8f16961e
1773 changed files with 1081087 additions and 474249 deletions
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189
src/BulletDynamics/Featherstone/btMultiBodyLink.h
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@@ -20,7 +20,7 @@ subject to the following restrictions:
#include "LinearMath/btVector3.h"
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
enum btMultiBodyLinkFlags
enum btMultiBodyLinkFlags
{
BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION = 1,
BT_MULTIBODYLINKFLAGS_DISABLE_ALL_PARENT_COLLISION = 2,
@@ -36,7 +36,6 @@ enum btMultiBodyLinkFlags
//namespace {
#include "LinearMath/btSpatialAlgebra.h"
//}
@@ -45,27 +44,26 @@ enum btMultiBodyLinkFlags
// Link struct
//
struct btMultibodyLink
struct btMultibodyLink
{
BT_DECLARE_ALIGNED_ALLOCATOR();
btScalar m_mass; // mass of link
btVector3 m_inertiaLocal; // inertia of link (local frame; diagonal)
btScalar m_mass; // mass of link
btVector3 m_inertiaLocal; // inertia of link (local frame; diagonal)
int m_parent; // index of the parent link (assumed to be < index of this link), or -1 if parent is the base link.
int m_parent; // index of the parent link (assumed to be < index of this link), or -1 if parent is the base link.
btQuaternion m_zeroRotParentToThis; // rotates vectors in parent-frame to vectors in local-frame (when q=0). constant.
btQuaternion m_zeroRotParentToThis; // rotates vectors in parent-frame to vectors in local-frame (when q=0). constant.
btVector3 m_dVector; // vector from the inboard joint pos to this link's COM. (local frame.) constant.
//this is set to zero for planar joint (see also m_eVector comment)
// m_eVector is constant, but depends on the joint type:
// revolute, fixed, prismatic, spherical: vector from parent's COM to the pivot point, in PARENT's frame.
btVector3 m_dVector; // vector from the inboard joint pos to this link's COM. (local frame.) constant.
//this is set to zero for planar joint (see also m_eVector comment)
// m_eVector is constant, but depends on the joint type:
// revolute, fixed, prismatic, spherical: vector from parent's COM to the pivot point, in PARENT's frame.
// planar: vector from COM of parent to COM of this link, WHEN Q = 0. (local frame.)
// todo: fix the planar so it is consistent with the other joints
btVector3 m_eVector;
btVector3 m_eVector;
btSpatialMotionVector m_absFrameTotVelocity, m_absFrameLocVelocity;
@@ -79,13 +77,11 @@ struct btMultibodyLink
eInvalid
};
// "axis" = spatial joint axis (Mirtich Defn 9 p104). (expressed in local frame.) constant.
// for prismatic: m_axesTop[0] = zero;
// m_axesBottom[0] = unit vector along the joint axis.
// for revolute: m_axesTop[0] = unit vector along the rotation axis (u);
// m_axesBottom[0] = u cross m_dVector (i.e. COM linear motion due to the rotation at the joint)
// for prismatic: m_axesTop[0] = zero;
// m_axesBottom[0] = unit vector along the joint axis.
// for revolute: m_axesTop[0] = unit vector along the rotation axis (u);
// m_axesBottom[0] = u cross m_dVector (i.e. COM linear motion due to the rotation at the joint)
//
// for spherical: m_axesTop[0][1][2] (u1,u2,u3) form a 3x3 identity matrix (3 rotation axes)
// m_axesBottom[0][1][2] cross u1,u2,u3 (i.e. COM linear motion due to the rotation at the joint)
@@ -93,143 +89,141 @@ struct btMultibodyLink
// for planar: m_axesTop[0] = unit vector along the rotation axis (u); defines the plane of motion
// m_axesTop[1][2] = zero
// m_axesBottom[0] = zero
// m_axesBottom[1][2] = unit vectors along the translational axes on that plane
// m_axesBottom[1][2] = unit vectors along the translational axes on that plane
btSpatialMotionVector m_axes[6];
void setAxisTop(int dof, const btVector3 &axis) { m_axes[dof].m_topVec = axis; }
void setAxisBottom(int dof, const btVector3 &axis)
{
m_axes[dof].m_bottomVec = axis;
}
void setAxisTop(int dof, const btScalar &x, const btScalar &y, const btScalar &z)
void setAxisBottom(int dof, const btVector3 &axis)
{
m_axes[dof].m_topVec.setValue(x, y, z);
m_axes[dof].m_bottomVec = axis;
}
void setAxisBottom(int dof, const btScalar &x, const btScalar &y, const btScalar &z)
{
m_axes[dof].m_bottomVec.setValue(x, y, z);
void setAxisTop(int dof, const btScalar &x, const btScalar &y, const btScalar &z)
{
m_axes[dof].m_topVec.setValue(x, y, z);
}
const btVector3 & getAxisTop(int dof) const { return m_axes[dof].m_topVec; }
const btVector3 & getAxisBottom(int dof) const { return m_axes[dof].m_bottomVec; }
void setAxisBottom(int dof, const btScalar &x, const btScalar &y, const btScalar &z)
{
m_axes[dof].m_bottomVec.setValue(x, y, z);
}
const btVector3 &getAxisTop(int dof) const { return m_axes[dof].m_topVec; }
const btVector3 &getAxisBottom(int dof) const { return m_axes[dof].m_bottomVec; }
int m_dofOffset, m_cfgOffset;
btQuaternion m_cachedRotParentToThis; // rotates vectors in parent frame to vectors in local frame
btVector3 m_cachedRVector; // vector from COM of parent to COM of this link, in local frame.
btQuaternion m_cachedRotParentToThis; // rotates vectors in parent frame to vectors in local frame
btVector3 m_cachedRVector; // vector from COM of parent to COM of this link, in local frame.
btVector3 m_appliedForce; // In WORLD frame
btVector3 m_appliedTorque; // In WORLD frame
btVector3 m_appliedForce; // In WORLD frame
btVector3 m_appliedTorque; // In WORLD frame
btVector3 m_appliedConstraintForce; // In WORLD frame
btVector3 m_appliedConstraintTorque; // In WORLD frame
btVector3 m_appliedConstraintForce; // In WORLD frame
btVector3 m_appliedConstraintTorque; // In WORLD frame
btScalar m_jointPos[7];
//m_jointTorque is the joint torque applied by the user using 'addJointTorque'.
//It gets set to zero after each internal stepSimulation call
//m_jointTorque is the joint torque applied by the user using 'addJointTorque'.
//It gets set to zero after each internal stepSimulation call
btScalar m_jointTorque[6];
class btMultiBodyLinkCollider* m_collider;
class btMultiBodyLinkCollider *m_collider;
int m_flags;
int m_dofCount, m_posVarCount; //redundant but handy
int m_dofCount, m_posVarCount; //redundant but handy
eFeatherstoneJointType m_jointType;
struct btMultiBodyJointFeedback* m_jointFeedback;
btTransform m_cachedWorldTransform;//this cache is updated when calling btMultiBody::forwardKinematics
struct btMultiBodyJointFeedback *m_jointFeedback;
btTransform m_cachedWorldTransform; //this cache is updated when calling btMultiBody::forwardKinematics
const char *m_linkName; //m_linkName memory needs to be managed by the developer/user!
const char *m_jointName; //m_jointName memory needs to be managed by the developer/user!
const void *m_userPtr; //m_userPtr ptr needs to be managed by the developer/user!
btScalar m_jointDamping; //todo: implement this internally. It is unused for now, it is set by a URDF loader. User can apply manual damping.
btScalar m_jointFriction; //todo: implement this internally. It is unused for now, it is set by a URDF loader. User can apply manual friction using a velocity motor.
btScalar m_jointLowerLimit; //todo: implement this internally. It is unused for now, it is set by a URDF loader.
btScalar m_jointUpperLimit; //todo: implement this internally. It is unused for now, it is set by a URDF loader.
btScalar m_jointMaxForce; //todo: implement this internally. It is unused for now, it is set by a URDF loader.
btScalar m_jointMaxVelocity; //todo: implement this internally. It is unused for now, it is set by a URDF loader.
const char* m_linkName;//m_linkName memory needs to be managed by the developer/user!
const char* m_jointName;//m_jointName memory needs to be managed by the developer/user!
const void* m_userPtr;//m_userPtr ptr needs to be managed by the developer/user!
btScalar m_jointDamping; //todo: implement this internally. It is unused for now, it is set by a URDF loader. User can apply manual damping.
btScalar m_jointFriction; //todo: implement this internally. It is unused for now, it is set by a URDF loader. User can apply manual friction using a velocity motor.
btScalar m_jointLowerLimit; //todo: implement this internally. It is unused for now, it is set by a URDF loader.
btScalar m_jointUpperLimit; //todo: implement this internally. It is unused for now, it is set by a URDF loader.
btScalar m_jointMaxForce; //todo: implement this internally. It is unused for now, it is set by a URDF loader.
btScalar m_jointMaxVelocity;//todo: implement this internally. It is unused for now, it is set by a URDF loader.
// ctor: set some sensible defaults
btMultibodyLink()
: m_mass(1),
m_parent(-1),
m_zeroRotParentToThis(0, 0, 0, 1),
m_cachedRotParentToThis(0, 0, 0, 1),
m_collider(0),
m_flags(0),
m_dofCount(0),
m_posVarCount(0),
m_jointType(btMultibodyLink::eInvalid),
m_jointFeedback(0),
m_linkName(0),
m_jointName(0),
m_userPtr(0),
m_jointDamping(0),
m_jointFriction(0),
m_jointLowerLimit(0),
m_jointUpperLimit(0),
m_jointMaxForce(0),
m_jointMaxVelocity(0)
: m_mass(1),
m_parent(-1),
m_zeroRotParentToThis(0, 0, 0, 1),
m_cachedRotParentToThis(0, 0, 0, 1),
m_collider(0),
m_flags(0),
m_dofCount(0),
m_posVarCount(0),
m_jointType(btMultibodyLink::eInvalid),
m_jointFeedback(0),
m_linkName(0),
m_jointName(0),
m_userPtr(0),
m_jointDamping(0),
m_jointFriction(0),
m_jointLowerLimit(0),
m_jointUpperLimit(0),
m_jointMaxForce(0),
m_jointMaxVelocity(0)
{
m_inertiaLocal.setValue(1, 1, 1);
setAxisTop(0, 0., 0., 0.);
setAxisBottom(0, 1., 0., 0.);
m_dVector.setValue(0, 0, 0);
m_eVector.setValue(0, 0, 0);
m_cachedRVector.setValue(0, 0, 0);
m_appliedForce.setValue( 0, 0, 0);
m_appliedForce.setValue(0, 0, 0);
m_appliedTorque.setValue(0, 0, 0);
m_appliedConstraintForce.setValue(0,0,0);
m_appliedConstraintTorque.setValue(0,0,0);
//
m_appliedConstraintForce.setValue(0, 0, 0);
m_appliedConstraintTorque.setValue(0, 0, 0);
//
m_jointPos[0] = m_jointPos[1] = m_jointPos[2] = m_jointPos[4] = m_jointPos[5] = m_jointPos[6] = 0.f;
m_jointPos[3] = 1.f; //"quat.w"
m_jointPos[3] = 1.f; //"quat.w"
m_jointTorque[0] = m_jointTorque[1] = m_jointTorque[2] = m_jointTorque[3] = m_jointTorque[4] = m_jointTorque[5] = 0.f;
m_cachedWorldTransform.setIdentity();
}
// routine to update m_cachedRotParentToThis and m_cachedRVector
// routine to update m_cachedRotParentToThis and m_cachedRVector
void updateCacheMultiDof(btScalar *pq = 0)
{
btScalar *pJointPos = (pq ? pq : &m_jointPos[0]);
switch(m_jointType)
switch (m_jointType)
{
case eRevolute:
{
m_cachedRotParentToThis = btQuaternion(getAxisTop(0),-pJointPos[0]) * m_zeroRotParentToThis;
m_cachedRVector = m_dVector + quatRotate(m_cachedRotParentToThis,m_eVector);
m_cachedRotParentToThis = btQuaternion(getAxisTop(0), -pJointPos[0]) * m_zeroRotParentToThis;
m_cachedRVector = m_dVector + quatRotate(m_cachedRotParentToThis, m_eVector);
break;
}
case ePrismatic:
{
// m_cachedRotParentToThis never changes, so no need to update
m_cachedRVector = m_dVector + quatRotate(m_cachedRotParentToThis,m_eVector) + pJointPos[0] * getAxisBottom(0);
m_cachedRVector = m_dVector + quatRotate(m_cachedRotParentToThis, m_eVector) + pJointPos[0] * getAxisBottom(0);
break;
}
case eSpherical:
{
m_cachedRotParentToThis = btQuaternion(pJointPos[0], pJointPos[1], pJointPos[2], -pJointPos[3]) * m_zeroRotParentToThis;
m_cachedRVector = m_dVector + quatRotate(m_cachedRotParentToThis,m_eVector);
m_cachedRVector = m_dVector + quatRotate(m_cachedRotParentToThis, m_eVector);
break;
}
case ePlanar:
{
m_cachedRotParentToThis = btQuaternion(getAxisTop(0),-pJointPos[0]) * m_zeroRotParentToThis;
m_cachedRVector = quatRotate(btQuaternion(getAxisTop(0),-pJointPos[0]), pJointPos[1] * getAxisBottom(1) + pJointPos[2] * getAxisBottom(2)) + quatRotate(m_cachedRotParentToThis,m_eVector);
m_cachedRotParentToThis = btQuaternion(getAxisTop(0), -pJointPos[0]) * m_zeroRotParentToThis;
m_cachedRVector = quatRotate(btQuaternion(getAxisTop(0), -pJointPos[0]), pJointPos[1] * getAxisBottom(1) + pJointPos[2] * getAxisBottom(2)) + quatRotate(m_cachedRotParentToThis, m_eVector);
break;
}
case eFixed:
{
m_cachedRotParentToThis = m_zeroRotParentToThis;
m_cachedRVector = m_dVector + quatRotate(m_cachedRotParentToThis,m_eVector);
m_cachedRVector = m_dVector + quatRotate(m_cachedRotParentToThis, m_eVector);
break;
}
@@ -242,5 +236,4 @@ btVector3 m_appliedConstraintForce; // In WORLD frame
}
};
#endif //BT_MULTIBODY_LINK_H
#endif //BT_MULTIBODY_LINK_H